A modular electric drive bridge system and its driving method

Abstract

This invention relates to a modular electric drive axle system and its driving method, belonging to the field of heavy-duty vehicle drive technology. It solves the problems of low integration, poor modularity, and low mobility in existing multi-axle, ultra-heavy-duty electric drive chassis axle systems. The invention includes: a vehicle controller, an integrated power platform, and multiple parallel-arranged electric drive axles; the vehicle controller independently controls each electric drive axle; the integrated power platform connects the vehicle controller and the electric drive axles, providing power to both. The modularly designed electric drive axle incorporates power, cooling, suspension, steering, and wheel sets in a modular design and arrangement based on the axle itself. This invention improves the degree of modular application between and within products and has good applicability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of heavy-duty vehicle driving, in particular to a modular electric drive axle system and a driving method thereof. BACKGROUND

[0002] With the development of new generation heavy-duty vehicles, electric drive as the propulsion system of the vehicle is a new idea in the development of the past few decades. At present, whether in the vehicle or in the application field of ships, high-speed trains, etc., this combination shows strong vitality, and electric power as the propulsion power transmission system has gradually become the clear development direction.

[0003] To meet the future needs, higher requirements are put forward for the new generation of multi-axle super heavy-duty chassis. In addition to the performance of high mobility, high load bearing, high adaptability, etc., it also needs to have high informationization, intelligence, and unmanned functions. As the core key assembly of the electric drive chassis, the definition of the electric drive axle has fundamentally changed from the traditional vehicle. It is no longer just a component part with bearing and transmission functions, but has been upgraded to a system integration with power, bearing, transmission, heat dissipation, braking, and steering functions. At present, most of the multi-axle super heavy-duty electric drive chassis axles under research are based on the original traditional chassis for adaptive modification, lack of system integration design, and the degree of modularity is not high, and the informationization and intelligence level is low.

[0004] Existing drive axle schemes and their deficiencies:

[0005] 1) Traditional mechanical axle scheme

[0006] The main reducer + differential + wheel edge transmission shaft + wheel edge reducer mode is adopted. The power is output by the engine, transmitted to the main reducer through the gearbox and transfer case, and then transmitted to the wheel edge reducer through the differential and wheel edge transmission shaft. The power performance of the traditional mechanical axle scheme is often insufficient due to the power of the engine, which is more obvious on super heavy-duty multi-axle vehicles.

[0007] 2) Centralized electric drive axle scheme

[0008] The centralized electric drive axle generally does not change the original axle structure form on the basis of the traditional axle (integral or disconnected), and adds a drive motor at the front end of the main reducer. The volume of the motor of this scheme is often large, the space occupied is large, which is not conducive to the arrangement of the vehicle, and the interface of the drive motor needs to be designed according to the structure of the axle, and cannot be used interchangeably between different axles or different vehicles.

[0009] 3) Distributed wheel edge electric drive axle scheme

[0010] The distributed wheel-side electric drive axle is completely different from the traditional axle and the centralized electric drive axle, the main reducer and the differential of the original axle are cancelled, and two wheel-side electric drives are used to replace them, and the electronic differential function of the wheel-side electric machine is used to replace the original mechanical differential. SUMMARY

[0011] In view of the above analysis, the present application aims to provide a modular electric drive axle system and a driving method thereof to solve the problems of low integration level, poor modularity and poor maneuverability of the existing multi-axle super-heavy load electric drive chassis axle system.

[0012] The purpose of the present application is mainly achieved by the following technical solutions:

[0013] A modular electric drive axle system, comprising: a vehicle controller, an integrated power supply platform, and a plurality of parallel electric drive axles; the vehicle controller controls each electric drive axle independently; the integrated power supply platform connects the vehicle controller and the electric drive axle, and is used to supply power to the vehicle controller and the electric drive axle.

[0014] Further, the electric drive axle comprises: an electric drive wheel, an electric axle controller, a power battery pack and a suspension device.

[0015] Further, the electric drive wheel is symmetrically arranged on both sides of the electric drive axle and is hinged to the suspension device through a steering knuckle.

[0016] Further, the electric drive wheel comprises: a wheel, a wheel hub motor, a wheel-side reducer and a brake; the wheel hub motor is used to drive the wheel to rotate; a wheel-side reducer is arranged between the wheel hub motor and the wheel; the brake is used to brake the wheel.

[0017] Further, the electric drive axle further comprises: a steering mechanism and a radiator.

[0018] Further, the power battery pack is used to supply power to the electric equipment in the electric drive axle; the electric axle controller is used to control the start and stop of the wheel hub motor, the braking or braking release of the brake, and the steering drive of the steering mechanism.

[0019] Further, the suspension device comprises: an oil-gas spring, an upper cross arm and a lower cross arm; the upper cross arm and the lower cross arm are hingedly installed on the chassis frame, and the upper cross arm and the lower cross arm are hingedly connected to the electric drive wheel through a steering knuckle; the oil-gas spring is arranged between the lower cross arm and the chassis frame; the lower end of the oil-gas spring is hingedly connected to the middle part of the lower cross arm, and the upper end is hingedly connected to the chassis frame.

[0020] A driving method of a modular electric drive axle system, comprising the following steps:

[0021] Step S1: the vehicle controller sends a control instruction to the electric axle controller;

[0022] Step S2: the electric bridge controller controls the electric drive axle to perform driving, steering, braking or suspension adjustment action;

[0023] Step S3: the hub motor, suspension device, steering mechanism and brake of the electric drive axle perform the control instruction of the electric bridge controller.

[0024] Further, in the step S1, the vehicle controller can control one or more electric drive axles simultaneously.

[0025] Further, in the step S3, one or more electric drive axles synchronously perform driving, steering or braking action.

[0026] The technical scheme of the present application can at least achieve one of the following effects:

[0027] 1. The modular electric drive axle system of the present application improves the rapid integration design, modification of the chassis system, and improves the reliability and maintainability of the chassis system.

[0028] 2. The drive axle system of the present application is based on the modular electric drive axle, and the power, heat dissipation, suspension, steering, wheel group, etc. are modularly designed and arranged based on the axle. In view of the problem that the existing similar electric drive axle products have low modularization degree and poor universal interchangeability, the modular design of the electric drive axle as a whole improves the modular application degree between products and within products; each module can be interchanged, the number of modular electric drive axles can be increased or decreased to obtain different maneuvering performance, and good applicability is obtained.

[0029] 3. The drive axle system of the present application can be used as a direct power component of the chassis, and is used to realize the functions of load bearing, driving, braking, steering, suspension, etc. of the chassis, to ensure the necessary traction, vehicle speed and smoothness of the chassis under various driving conditions, the system has high adjustment function, fault diagnosis, alarm and reporting function, energy recovery and reverse drag braking function.

[0030] In the present application, the above technical solutions can be combined with each other to realize more preferred combination schemes. Other features and advantages of the present application will be described in the subsequent specification, and some advantages will become apparent from the specification, or will be understood by implementing the present application. The purpose and other advantages of the present application can be achieved and obtained from the contents specifically pointed out in the specification and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings are included to provide a further understanding of the embodiments, and are incorporated in and constitute a part of this specification, illustrate embodiments of the application, and together with the description serve to explain the principles of the application. In the drawings:

[0032] Figure 1The schematic diagram of the architecture of the modular electric drive axle system of the present application;

[0033] Figure 2 The schematic diagram of the architecture of the modular electric drive axle system of the present application;

[0034] Figure 3 The flow chart of the independent electric drive axle of the modular electric drive axle system of the present application;

[0035] Figure 4 The existing conventional axle scheme;

[0036] Figure 5 The existing civil electric drive axle scheme;

[0037] Figure 6 The existing distributed wheel-side electric drive axle scheme;

[0038] Figure 7 The perspective view of the structural arrangement of the modular electric drive axle system of the present application;

[0039] Figure 8 The front view of the structural arrangement of the modular electric drive axle system of the present application;

[0040] Figure 9 The enlarged view of the steering mechanism of the present application;

[0041] Figure 10 The several driving modes of the modular electric drive axle of the present application.

[0042] Reference signs:

[0043] 1 - electric wheel; 2 - electric axle controller; 3 - power battery pack; 4 - suspension device; 5 - steering mechanism; 6 - integrated radiator;

[0044] 51 - power oil cylinder; 52 - upright column; 53 - steering rocker arm; 54 - steering drag link; 55 - steering arm. DETAILED DESCRIPTION

[0045] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, which form a part of this application. The accompanying drawings, together with the description, are used to explain the principles of the present application and are not intended to limit the scope of the present application.

[0046] Example 1

[0047] One specific embodiment of the present application discloses a modular electric drive axle system, comprising: a vehicle controller, an integrated power supply platform and a plurality of parallel arranged electric drive axles; the vehicle controller controls each electric drive axle independently; the integrated power supply platform is connected with the vehicle controller and the electric drive axles, and is used for supplying power to the vehicle controller and the electric drive axles.

[0048] As Figure 1 、 Figure 2 shown, a plurality of independent electric drive axles are arranged side by side and independently controlled by a vehicle controller.

[0049] Specifically, the integrated power supply platform includes: a smart generator set and a high-voltage distribution box.

[0050] Among them, the smart generator set serves as the power generation module of the integrated power supply platform, providing the required power for the entire vehicle power supply. The high-voltage distribution box is used to distribute power to each independent electric drive axle.

[0051] The modular electric drive axle system of the present application can modularly process each electric drive axle, and can increase or decrease the number of electric drive axles according to actual needs, and adjust the length, load capacity and transportation capacity of the heavy-duty vehicle.

[0052] In one embodiment of the present application, as Figure 7 、 Figure 8 shown, the electric drive axle includes: an electric drive wheel 1, an electric axle controller 2, a power battery pack 3, a suspension device 4, a steering mechanism 5 and a radiator 6.

[0053] Among them, the electric drive wheel 1 is symmetrically arranged on both sides of the electric drive axle and is hinged with the suspension device 4 through the steering knuckle. Specifically, the electric drive wheel 1 is the drive assembly of the entire system, which includes: a wheel, a hub motor, a wheel side reducer and a brake; the hub motor is used to drive the wheel to rotate; the wheel side reducer is arranged between the hub motor and the wheel; the brake is used to brake the wheel. The electric drive wheel 1 is connected with the upper and lower control arms of the suspension device 4 through the steering knuckle ball hinge, which is used for bearing and driving, and the hub motor of the electric drive wheel 1 is cooled through the circulating water heat exchange radiator 6.

[0054] The electric axle controller 2 is an integrated drive and control device of the hub motor, the steering mechanism 5, the brake, the suspension device 4 and the radiator. Specifically, the electric axle controller 2 is used to control the start and stop of the hub motor, the braking or braking release of the brake and the steering drive of the steering mechanism.

[0055] The electric axle controller 2 is installed in the frame near the axle, and is connected with the hub motor of the electric drive wheel 1, the hydraulic valve group of the suspension device 4, the hydraulic valve group of the steering mechanism 5, the radiator 6 and the related sensors through the cable. The cooling pipeline is arranged outside the electric axle controller 2, the low-temperature cooling liquid flows in the cooling pipeline, and the cooling pipeline is connected with the integrated radiator 6 through the water pipe.

[0056] Specifically, the power battery pack 3 is used to supply power to the electrically driven bridge; the power battery pack 3 of each electrically driven bridge is connected with a high-voltage distribution box. The power battery pack 3 includes a battery and a BMS (battery management system), and provides energy power for the electrically driven wheel 1, is installed in the frame near the electrically driven bridge through a support, and is connected with the electric bridge controller 2 through a cable; and power transmission is performed.

[0057] Further, the suspension device 4 includes an oil-gas spring, an upper arm and a lower arm; the upper arm and the lower arm are hingedly installed on the chassis frame, and are hingedly connected with the electrically driven wheel 1 through a steering knuckle; the oil-gas spring is arranged between the lower arm and the chassis frame; the lower end of the oil-gas spring is hingedly connected with the middle part of the lower arm, and the upper end is hingedly connected with the chassis frame.

[0058] Specifically, the steering knuckle is a spherical hinge structure.

[0059] In one specific embodiment of the present application, the suspension device 4 includes an oil-gas spring, a height adjustment valve group, a height sensor and a cooling pipeline.

[0060] The suspension device 4 of the present application adopts a double-arm oil-gas spring independent suspension form, adopts a single-cavity oil-gas spring and an external accumulator, has a height adjustment function, the upper arm and the lower arm are respectively hingedly connected with the mounting support on the frame and the steering knuckle of the electrically driven wheel 1, and the two ends of the oil-gas spring are respectively hingedly connected with the oil-gas spring support on the lower arm and the frame.

[0061] One end of the upper arm of the suspension device 4 is hingedly connected with the first suspension support on the chassis frame, and the other end is hingedly connected with the electrically driven wheel 1 through a steering knuckle; one end of the lower arm of the suspension device 4 is hingedly connected with the second suspension support on the chassis frame, and the other end is hingedly connected with the electrically driven wheel 1 through a steering knuckle.

[0062] Further, one end of the oil-gas spring is hingedly connected with the lower arm through a pin shaft, and the other end is hingedly connected with the chassis frame through a pin shaft, which is used for system damping and can realize system height adjustment to adapt to the needs of transportation, driving and off-road conditions.

[0063] Further, the attitude adjustment can be realized by adjusting the stroke of the oil-gas spring to adapt to the changes of load or terrain; specifically, by adjusting the pressure of the height adjustment valve group, the stroke of the oil-gas spring can be adjusted, and then the angle between the upper arm and the chassis frame is adjusted, and then the height of the end connected with the wheel of the upper arm and the lower arm is adjusted, and the height of the suspension device and the wheel is adjusted.

[0064] In one specific embodiment of the present application, the steering mechanism 5 is a steering device of the electrically driven wheel 1, and the steering mechanism 5 adopts an electrically controlled hydraulic power steering, and includes a steering rod system, a power cylinder 51 and an angle sensor.

[0065] The steering linkage includes: column 52, steering rocker arm 53, steering tie rod 54, and steering arm 55.

[0066] Specifically, such as Figure 9 As shown, one end of the power cylinder 51 is fixed to the frame via a ball joint, and the other end is connected to the end of the steering rocker arm 53 via a ball joint. The steering rocker arm 53 is rotatably mounted on the frame via a column 52; the column 52 is fixed to the frame and is located in the middle of the steering rocker arm 53; one end of the steering rocker arm 53 is connected to the output end of the power cylinder 51 via a ball joint, and the other end is hinged to the steering tie rod 54. When the power cylinder 51 outputs linear displacement, the steering rocker arm 53 deflects at an angle around the column 52.

[0067] One end of the steering tie rod 54 is connected to the steering rocker arm 53, and the other end is connected to the steering arm 55 via a ball joint; one end of the steering arm 55 is connected to the steering tie rod 54, and the other end is fixedly connected to the wheel. When the steering rocker arm 53 rotates, the steering tie rod 54 pulls the steering arm 55 to deflect, thereby deflecting the wheel and thus steering the entire vehicle.

[0068] Furthermore, an angle sensor is installed at the end of the pillar 52 to monitor the deflection angle of the steering rocker arm 53 and upload it to the vehicle controller.

[0069] In one specific embodiment of the present invention, a radiator 6 is used to dissipate heat from the hub motor of the electric drive wheel 1 and the electric axle controller 2. The radiator 6 includes a fan, a water pump, a temperature sensor, and cooling pipes. The radiator 6 is mounted on the outside of the vehicle frame via a bracket and cools the hub motor of the electric drive wheel 1 and the electric axle controller 2 through the cooling pipes.

[0070] Specifically, the radiator 6 monitors the surface temperature of the hub motor and the electric bridge controller 2 through a temperature sensor. When the surface temperature of the hub motor and the electric bridge controller 2 exceeds a set threshold, the electric bridge controller 2 controls the fan or water pump to run to dissipate heat from the electric drive bridge.

[0071] Specifically, the radiator 6 uses a water-cooled cooling method and is located on the outside of the vehicle frame, employing a 24V electric fan and a water pump. After the water pump starts, it pumps cryogenic liquid into the cooling pipes. The cryogenic liquid in the cooling pipes exchanges heat with the hub motor and the electric axle controller 2, thereby cooling the electric drive axle.

[0072] The electric drive axle system of the present invention adopts a 600V high-voltage bus power supply system, is equipped with an all-weather low-temperature power battery system, adopts a distributed hub motor electric wheel drive, the oil and gas spring type suspension device 4 has a height adjustment function, adopts an electromechanical combined braking method and has a motor reverse drag braking function, adopts an electro-hydraulic steering method and has a steering lock function, and adopts an integrated water cooling heat dissipation method to unify the heat dissipation management of the motor and the driver.

[0073] Example 2

[0074] A driving method for a modular electric drive bridge system includes the following steps:

[0075] Step S1: The vehicle controller sends a control command to the electric bridge controller 2;

[0076] Step S2: The electric bridge controller 2 controls the electric drive axle to perform driving, steering, braking and suspension adjustment actions;

[0077] Step S3: The hub motor, suspension device 4, steering mechanism 5 and brake of the electric drive axle execute the control commands of the electric axle controller 2.

[0078] Furthermore, in step S1, the vehicle controller can simultaneously control one or more electric drive axles.

[0079] Furthermore, such as Figure 3 As shown, in step S3, the electric axle controller 2 controls the actuators of the electric drive wheel 1, brake, suspension device 4, steering mechanism 5, and radiator 6 to perform corresponding functions based on the drive, steering, braking, suspension height adjustment, and thermal management commands from the upper-level signals from the vehicle controller.

[0080] In step S3, when the electric drive axle performs the driving action: the integrated control driver 2 first inverts the 600V high-voltage DC power from the power battery pack 3 into 600V AC power, and then transmits the power to the hub motor through the cable. The speed output by the hub motor is reduced by the wheel-side reducer and then the torque is transmitted to the wheel to drive the wheel to rotate.

[0081] The electric axle controller 2 outputs torque commands based on upper-level signals from the vehicle controller, and controls the output torque of the hub motors of the two electric drive wheels 1 of its axle. The output torque of the hub motors can be positive or negative depending on the requirements of driving or regenerative braking.

[0082] Further, the electric drive axle system of the present application can drive the vehicle by the first electric drive axle and other wheels driven, or drive the vehicle by all or part of the electric drive axle output torque. For example, when the vehicle is empty, only one or part of the electric drive axle is started to drive; when the vehicle is heavily loaded, all the electric drive axles are started to drive.

[0083] In the step S3, the electric axle controller 2 controls the start-stop of the brake and the size of the braking force to realize the braking of the electric drive axle.

[0084] Since each electric drive axle of the present application is provided with a brake, the rapid braking of the heavy vehicle can be realized.

[0085] Further, in the step S3, when the electric drive axle executes the steering instruction: one or more of the electric drive axles synchronously executes the driving, steering or braking action.

[0086] As shown in the figure, Figure 10 When the number of electric drive axles is 6, each electric drive axle cooperates to realize the straight driving, arc steering driving and U-shaped steering driving. Specifically, in the straight driving, the wheels of each electric drive axle are in the same direction; in the arc steering driving, the wheels of the first three electric drive axles are deflected in the same direction, and the wheels of the last three electric drive axles are deflected in the opposite direction; in the U-shaped steering driving, the wheels of the first two electric drive axles are deflected in the same direction, the wheels of the middle two electric drive axles remain forward, and the wheels of the last two electric drive axles are deflected in the opposite direction. The electric drive axle system of the present application can realize various steering modes through the independent control of each electric drive axle, and in actual application, a smaller steering radius can be obtained.

[0087] Further, the steering process of a single electric drive axle is as follows:

[0088] Step S31: The electric axle controller 2 controls the power cylinder 51 of the steering mechanism 5 to act according to the instruction of the vehicle controller;

[0089] Step S32: The steering mechanism 5 realizes the swing of the steering rocker arm 53 through the extension and retraction of the power cylinder 51;

[0090] Step S33: When the steering rocker arm 53 swings, the steering arm 55 swings by the steering pull rod 54 to realize the steering of the wheel.

[0091] Further, in the step S3, the electric axle controller 2 controls the action of the height adjustment valve group according to the instruction of the vehicle controller, adjusts the height of the suspension device 4 through the extension and retraction of the oil gas spring, and further realizes the height adjustment of the vehicle body.

[0092] Further, in the step S2, the electric-bridge controller 2 can also control the radiator 6 to dissipate heat from the electric drive axle; specifically, the radiator 6 controls the rotation speed of the fan and the water pump according to the temperature signal monitored by the temperature sensor, so as to realize the thermal management of the two hub motors and the electric-bridge controller 2.

[0093] Specifically, when the temperature sensor monitors that the surface temperature of the electric drive axle exceeds a set threshold t℃, the fan and the water pump are started to cool down the electric drive axle; further, as the temperature rises, the rotation speed of the fan and the water pump is increased.

[0094] Specifically, the temperature threshold for starting the fan is t1℃, and when the surface temperature of the electric drive axle reaches t1℃, the fan is started to cool down. That is, when the hub motor and / or the electric-bridge controller 2 of the electric drive axle reaches t1℃, the fan is started. At this time, the power of the fan is the primary power in the general state.

[0095] Specifically, the temperature threshold for starting the water pump is t2℃, and when the surface temperature of the electric drive axle reaches t2℃, the water pump is started to cool down. That is, when the hub motor and / or the electric-bridge controller 2 of the electric drive axle reaches t2℃, the water pump is started. At this time, the power of the water pump is the primary power in the general state.

[0096] Further, when the fan and the water pump are started at the same time, and the temperature of the electric drive axle continues to rise, the power gear of the fan and the water pump needs to be increased.

[0097] Specifically, when the surface temperature of the electric drive axle reaches t3℃, the fan is increased to the maximum power. When the surface temperature of the electric drive axle reaches t4℃, the water pump is increased to the maximum power.

[0098] Wherein, t1℃<t2℃<t3℃<t4℃. Considering that the higher the temperature of the electric drive axle, the more serious the loss to the electrical elements, and the higher the requirement for the cooling speed, the difference between the temperature thresholds gradually decreases, that is, t2-t1>t3-t2>t4-t3; exemplarily, t1=90, t2=95, t3=98, and t4=100.

[0099] The specific temperature thresholds t1℃, t2℃, t3℃, and t4℃ and the gear power of the fan and the water pump can be set according to the actual situation. The present application controls the start and stop of the fan and the water pump and the power by setting different temperature thresholds, which can not only achieve the energy-saving effect but also ensure the effective control of the temperature of the electric drive axle, avoiding the waste of energy.

[0100] The purpose of the present application is to provide a modular electric drive axle system to solve the problems of low integration level, poor modularity, and poor maneuverability of the existing multi-axle super-heavy load electric chassis axle system. Figure 4 、 Figure 5 ,Figure 6 The existing drive axle structure is single, has poor load capacity and insufficient mobility. Compared with the prior art, the embodiment has at least one of the following beneficial effects:

[0101] (1) Improve system integration

[0102] In view of the low system integration of the existing similar electric drive axle products, based on the modular design concept, the modular electric drive axle system integrates and modularly arranges the devices such as wheels, reducers, drive motors, controllers, radiators, power batteries, steering, brakes and suspensions in units of axles to improve the overall system integration and modularization.

[0103] (2) Improve the level of modularization

[0104] The electric drive axle system of the present application is based on the modular design of the electric drive axle. The power, heat dissipation, suspension, steering, wheel group, etc. are modularly designed and arranged based on the axle. In view of the low modularization and poor interchangeability of the existing similar electric drive axle products, the electric drive axle is modularly designed as a whole to improve the modularization application degree between and within the products, and has good applicability.

[0105] (3) Enhance the mobility

[0106] The electric drive axle system of the present application, compared with the traditional mechanical axle, adopts multi-axle drive to enhance the power, steering, passing and other mobility, and enhance the military high-mobility off-road mobility.

[0107] The above is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this. Any changes or replacements within the technical scope disclosed by the present application can be easily thought by those skilled in the art, and should be covered within the protection scope of the present application.

Claims

1. A modular electric drive axle system, characterized by, The application relates to a vehicle control system, which comprises a vehicle controller, an integrated power supply platform and a plurality of parallelly arranged electric drive axles; the vehicle controller controls each electric drive axle independently; the integrated power supply platform is connected with the vehicle controller and the electric drive axles and is used for supplying power to the vehicle controller and the electric drive axles; the electric drive axle comprises electric drive wheels (1), an electric axle controller (2), a power battery pack (3), a suspension device (4), a steering mechanism (5) and a radiator (6); the electric drive wheels (1) are symmetrically arranged on two sides of the electric drive axle and are hinged with the suspension device (4) through a steering knuckle; the electric drive wheel (1) comprises a wheel, a wheel hub motor, a wheel edge reducer and a brake; the wheel hub motor is used for driving the wheel to rotate; the wheel hub motor is provided with the wheel edge reducer between the wheel hub motor and the wheel; and the brake is used for braking the wheel; the steering mechanism (5) adopts electric control hydraulic pressure assisted steering and comprises a steering rod system, a power cylinder (51) and an angle sensor; the steering rod system comprises a stand column (52), a steering rocker arm (53), a steering pull rod (54) and a steering arm (55); the steering rocker arm (53) is rotatably installed on a vehicle frame through the stand column (52); when the power cylinder (51) outputs linear displacement, the steering rocker arm (53) is angularly deflected around the stand column (52); when the steering rocker arm (53) rotates, the steering arm (55) is deflected through the steering pull rod (54), so that the deflection of the wheel is realized; the end of the stand column (52) is provided with the angle sensor, which is used for monitoring the deflection angle of the steering rocker arm (53) and uploading the deflection angle to the vehicle controller; the radiator (6) comprises a fan, a water pump, a temperature sensor and a cooling pipeline; the radiator (6) monitors the surface temperature of the wheel hub motor and the electric axle controller (2) through the temperature sensor; when the surface temperature of the wheel hub motor and the electric axle controller (2) exceeds a set threshold value, the electric axle controller (2) controls the fan or the water pump to operate, so that the electric drive axle is cooled. The power battery pack is used for supplying power to electric equipment in the electric drive axle; the electric axle controller (2) is used for controlling the start-stop of the wheel hub motor, the braking or braking release of the brake and the steering drive of the steering mechanism. The suspension device (4) comprises an oil-gas spring, an upper cross arm and a lower cross arm; the upper cross arm and the lower cross arm are hingedly installed on a chassis frame; the upper cross arm and the lower cross arm are hingedly connected with the electric drive wheel (1) through a steering knuckle; the oil-gas spring is arranged between the lower cross arm and the chassis frame; the lower end of the oil-gas spring is hingedly connected with the middle part of the lower cross arm, and the upper end is hingedly connected with the chassis frame. The application further discloses a control method of the vehicle control system, which comprises the following steps: Step S1: the vehicle controller sends a control instruction to the electric axle controller (2); 2. The modular electric drive axle system of claim 1, wherein, Step S2: the electric axle controller (2) controls the electric drive axle to perform driving, steering, braking or suspension adjustment actions; 3. The modular electric drive axle system of claim 2, wherein, Step S3: the wheel hub motor, the suspension device (4), the steering mechanism (5) and the brake of the electric drive axle execute the control instruction of the electric axle controller (2).

4. A method of driving a modular electric drive axle system according to any one of claims 1-3, characterized in that, In the step S1, the vehicle controller can control one or more electric drive axles simultaneously. ​ ​ ​ 5. The method of claim 4, wherein, ​ 6. The method of claim 4, wherein, In the step S3, one or more of the electric drive axles perform a driving, steering or braking action in synchronism.

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